Since Apple keeps things close to the vest, we have no idea if they are working on a solution or simply don't care, but in the meantime I've found the issue for me seems to be one of timing and perhaps it may also be one for you folks:
What I mean is that for the times I can't use Touch ID, which is 90% of the time when waking up my computer, I've found that if I simply wait for 13 seconds after the password field becomes visible, I can use Touch ID to log in. It's not a tremendously inconvenient thing but it is oddly specific... I haven't timed how long it takes for the password field actually to display to start the countdown, but at least if I have a little patience I don't have to type in a password to unlock my computer.
This is definitely a first-world problem but considering Apple has always been the company whose products "just work" it is annoying.
As long as I'm speaking of things that are annoying, I wonder why there is absolutely no mention of this specific issue when googling the issue. Literally every time I've tried to research this problem, google and every other search engine I've tried jumps automatically to "clean your hands" or "carefully clean the sensor" or "delete all existing finger prints and do them again."
What's equally annoying is that this problem is SOLELY tied to waking the computer from sleep. Once it's awake, the Touch ID works flawlessly for every other use. When I use it to log into a website it never hesitates. Yes, the Touch ID is used in both cases, but that's where the similarity ends.
I would like to think Apple is aware of this and it will be fixed in an upcoming update but who knows. In the meantime, perhaps those of you who also are having this issue can see if your machine is working the same way as mine.
Good luck to all.